JP2018100931A - Arithmetic device, arithmetic method, arithmetic system, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for tracking an unmanned aerial vehicle with a surveying instrument capable reliably detecting the unmanned aerial vehicle which is lost from sight.SOLUTION: A UAV searching control part 200 used for searching an unmanned aerial vehicle flying on a predetermined route, includes: an estimation part that estimates a direction of the unmanned aerial vehicle viewed from a surveying device, which measures a position of the unmanned aerial vehicle at specific time using a laser beam based on positional data of the surveying device and data of a predetermined route; and a searching control part that controls the surveying device to search the unmanned aerial vehicle based on the direction estimated by the estimation section.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a technique for specifying the position of an unmanned aerial vehicle.

  A technique using an unmanned aerial vehicle (UAV: (Unmanned aerial vehicle)) for surveying is known. In this technology, a UAV equipped with a position measuring device (so-called GPS receiver), IMU (inertial navigation device), altimeter, and camera using a GNSS (Global Navigation Satellite System) is allowed to fly along a predetermined route to the ground. And take aerial photogrammetry.

  In photogrammetry, the accuracy of camera position data is important. By the way, although UAV can identify its position using GNSS, its accuracy is about 1 m in the horizontal direction and about 3 m in the vertical direction, and the accuracy required for photogrammetry cannot be obtained. There is a method of mounting a higher-accuracy position measuring device using GNSS in the UAV, but it is difficult to mount it in a general-purpose UAV in terms of the weight of the device and power consumption. In response to this problem, there is a method of tracking a UAV flying in a TS (total station) and specifying the position of the UAV using a laser ranging function provided in the TS (see, for example, Patent Document 1).

US2014 / 0210663 Publication

  In the method of tracking UAV with the above-described TS, an automatic tracking function of a target included in the TS is used. In this technique, a UAV is captured and tracked with a search laser beam. The UAV includes a reflecting prism that reflects search laser light in the incident direction, and the UAV is tracked by the TS by detecting reflected light from the reflecting prism on the TS side.

  By the way, UAV may move unexpectedly due to the influence of wind, etc., and TS may lose sight of UAV. Further, during the tracking of the UAV by the TS, obstacles such as tree branches, leaves, birds, utility poles and electric wires may enter between the TS and the UAV, and the TS may lose sight of the UAV.

  The TS has a function of searching for a target. However, in the case of a UAV whose opponent moves in the air, it is often difficult to capture a lost UAV again (of course, it may be successful). In such a background, an object of the present invention is to provide a technique for more reliably detecting a lost unmanned aircraft in a technique for tracking an unmanned airplane with a surveying instrument.

  The invention according to claim 1 is a calculation device used for searching for an unmanned aerial vehicle flying on a predetermined route, and includes data on a position of a surveying device that measures the position of the unmanned aircraft using a laser beam, and An estimation unit that estimates the direction of the unmanned aircraft viewed from the surveying device at a specific time based on the predetermined route data, and the unmanned aircraft of the surveying device based on the direction estimated by the estimation unit And a search control unit that controls the search.

  According to a second aspect of the present invention, in the first aspect of the present invention, an apparent speed prediction unit that predicts an apparent speed of the unmanned aircraft as viewed from the surveying device based on the predetermined route data. In the search of the unmanned aircraft by the surveying device, the search control unit controls the movable unit of the surveying device to move at an apparent speed faster than the apparent speed of the unmanned aircraft predicted by the speed prediction unit. It is characterized by performing.

  According to a third aspect of the present invention, in the first or second aspect of the invention, the apparent speed predicted by the speed prediction unit is determined in advance as a timing when the search control unit searches for the unmanned aircraft. Timing when the unmanned aircraft estimated by the estimation unit makes a turning flight, timing when the unmanned aircraft estimated by the estimation unit makes a flight away from the surveying device, and estimated by the estimation unit One or more of the timings at which the unmanned aircraft is flying farther than a predetermined distance from the surveying device is selected.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, when the search for the unmanned aerial vehicle is lost from a state where the surveying device is capturing the unmanned aerial vehicle. It is performed. According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects of the present invention, the estimation unit includes an airspace where the unmanned aircraft makes a turning flight, and a flight where the unmanned aircraft moves away from the surveying device. Estimating at least one of the airspace where the unmanned aircraft flies farther than a predetermined distance from the surveying device, and the search control unit narrows down the unmanned aircraft to the estimated at least one airspace. It is characterized by controlling aircraft search.

  The invention according to claim 6 is a calculation method used for searching for an unmanned aerial vehicle flying on a predetermined route, the position data of a surveying device for surveying the position of the unmanned aircraft using a laser beam, and An estimation step for estimating the direction of the unmanned aircraft as viewed from the surveying device at a specific time based on the predetermined route data, and the unmanned aircraft by the surveying device based on the direction estimated in the estimation step. And a search control step for controlling the search.

  The invention according to claim 7 is a calculation system used for searching for an unmanned aerial vehicle flying on a predetermined route, the position data of a surveying device for surveying the position of the unmanned aircraft using a laser beam, and An estimation unit that estimates the direction of the unmanned aircraft viewed from the surveying device at a specific time based on the predetermined route data, and the unmanned aircraft of the surveying device based on the direction estimated by the estimation unit And a search control unit that controls the search.

  The invention according to claim 8 is a program used for searching for an unmanned aerial vehicle flying on a predetermined route, which is read by a computer, and (1) the position of the unmanned aircraft using a laser beam. An estimation unit that estimates the direction of the unmanned aircraft as viewed from the surveying device at a specific time based on the position data of the surveying device that measures and the predetermined route data; and (2) the estimation unit estimates The calculation program is operated as a search control unit for controlling the search for the unmanned aircraft by the surveying device based on the determined direction.

  According to the present invention, in the technique of tracking an unmanned aerial vehicle with a surveying instrument, it is possible to more reliably detect a lost unmanned aerial vehicle.

It is a principle figure concerning the measurement of the position of UAV. It is a block diagram of a total station. It is a block diagram of the control part for UAV search. It is a principle figure (A) and (B) which shows the principle which calculates | requires the apparent speed of UAV seen from TS. It is a flowchart which shows an example of the procedure of a process.

1. First embodiment (outline)
FIG. 1 shows a flying UAV (Unmanned aerial vehicle) and a TS (Total Station) arranged on the ground. The UAV is commercially available, and autonomously flies on a predetermined flight route and performs shooting for aerial photogrammetry. Of course, flight control by radio control of UAV is also possible. The UAV includes a camera, a position measurement device (for example, a GPS receiver) using GNSS, an IMU (inertial navigation device), an altimeter, a storage unit for storing a predetermined flight path and a flight log, and a control device for flight. I have.

  The UAV flies at a predetermined speed on a predetermined route using the position specifying device and the function of the IMU. Since there is a measurement error of the position specifying device, there is a certain amount of error between a predetermined route and a route that actually flies. The progress of the flight is stored in the flight log. In the flight log, time and UAV position (latitude, longitude, altitude) information are stored in association with each other.

  In the UAV, a dedicated reflecting prism that receives and reflects the search laser light and the ranging laser light from the TS is attached to a place that is easily visible from the outside (a place that can be easily searched from the TS, for example, below the UAV). This reflecting prism is a dedicated target for surveying by TS, and reflects incident laser light in the incident direction.

  TS is a highly accurate position measurement device using GNSS, a camera that acquires images, a laser scanning function for searching for a target (the above-described reflecting prism), and a distance measuring laser beam. It has a laser distance measuring function for measuring the distance and a function for measuring the direction (horizontal angle and vertical angle (elevation angle or depression angle)) of the laser-measured target. By measuring the distance and direction to the target, the position of the target with respect to the TS can be measured. Here, if the position of the TS is known, the position (latitude / longitude / altitude or XYZ coordinates on the Cartesian coordinate system) of the target (in this case, UAV) in the map coordinate system can be known. These functions are functions that the commercial TS has and are not special. The techniques relating to these TSs are described in, for example, Japanese Unexamined Patent Application Publication Nos. 2009-229192 and 2012-202821. Note that the map coordinate system is a coordinate system that handles map information (for example, latitude, longitude, altitude (elevation)). For example, position information obtained by GNSS is usually described in a map coordinate system.

  Hereinafter, an example of a TS (total station) used in the present embodiment will be described. FIG. 2 shows a block diagram of a TS (total station) 100. In TS100, parts other than search control unit 200 are the same as those of commercially available TS. The TS 100 includes a camera 101, a target search unit 102, a distance measurement unit 103, a horizontal / vertical direction detection unit 104, a horizontal / vertical direction drive unit 105, a UAV search control unit 200, a data storage unit 106, a position specifying unit 107, a communication Unit 108 and target position calculation unit 109.

  The camera 101 captures a moving image or a still image of a survey target such as a target. Data of an image captured by the camera 101 is stored in an appropriate storage area in association with data such as a measurement time, a measurement direction, a measurement distance, and a position of the measurement object related to the distance measurement object. In the present embodiment, a UAV image is acquired by the camera 101. The target search unit 102 searches for a target using a search laser beam having a fan beam. With the search laser light, the distance measuring unit 103 measures the distance to the target using the distance measuring laser light. The horizontal / vertical direction detection unit 104 measures the horizontal direction angle and the vertical direction angle (elevation angle and depression angle) of the target measured by the distance measurement unit 103. The casing portion having the optical system of the target search unit 102 and the distance measuring unit 103 can be controlled in horizontal rotation and elevation angle (decline angle), and the horizontal direction angle and the vertical direction angle are measured by an encoder. The output of this encoder is detected by the horizontal / vertical direction angle detector 104, and the horizontal azimuth angle and the vertical azimuth angle (elevation angle and depression angle) are measured.

  The horizontal / vertical direction drive unit 105 includes a motor that performs horizontal rotation and elevation angle control (and depression angle control) of the housing portion including the optical system of the target search unit 102 and the distance measurement unit 103, a drive circuit for the motor, and the drive Includes circuit control circuitry. The UAV search control unit 200 searches for a flying UAV. The UAV search control unit 200 will be described later. The data storage unit 106 stores a control program necessary for the operation of the TS 100, various data, survey results, and the like.

  The position specifying unit 107 specifies the position of the TS 100 using GNSS. The position specifying unit 107 performs highly accurate position measurement using an error correction signal and auxiliary navigation satellite data. The communication unit 108 communicates with an external device. The TS 100 can be operated by an external terminal (such as a dedicated terminal or a smartphone), and performs communication at this time. Examples of communication forms include wireless communication and optical communication. The target position calculation unit 109 calculates the position (coordinates) of the target with respect to the TS 100 from the distance and direction to the target (in this case, UAV). Here, the distance to the target is obtained by the distance measuring unit 103, and the direction of the target is obtained by the horizontal / vertical direction detecting unit 104. Since the position of the TS 100 is specified by the position specifying unit 107, the position of the target in the map coordinate system can be obtained by obtaining the position of the target with respect to the TS 100.

(Configuration of UAV Search Control Unit)
Hereinafter, the UAV search control unit 200 will be described. FIG. 3 shows a block diagram of the UAV search control unit 200. The UAV search control unit 200 is a computer including a CPU, a storage unit, and various interfaces, and is configured by dedicated hardware.

  A part or all of the functional units shown in FIG. 3 may be configured by a dedicated arithmetic circuit. Further, a functional unit configured in software and a functional unit configured by a dedicated arithmetic circuit may be combined.

  For example, each functional unit shown in the figure is configured by an electronic circuit such as a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), and a PLD (Programmable Logic Device) represented by an FPGA (Field Programmable Gate Array). It is also possible to configure some functions with dedicated hardware and configure other parts with general-purpose microcomputers.

  Whether each functional unit is configured by dedicated hardware or by software by executing a program in the CPU is determined in consideration of required calculation speed, cost, power consumption, and the like. Note that configuring the functional unit with dedicated hardware and configuring it with software are equivalent from the viewpoint of realizing a specific function.

  The UAV search control unit 200 includes a storage unit 201, an estimation unit 202, a search control unit 203, a speed prediction unit 204, a search timing selection unit 205, and a search range setting unit 206 as functional units. The storage unit 201 stores the same data as predetermined route data stored in the UAV. This data is flight plan data, and the coordinates (latitude, longitude, altitude) of a plurality of passing points Pn and the speed between adjacent points are designated. The UAV will fly autonomously according to this flight plan. Here, the position at the specified time can be obtained from the position of Pn and the flight time.

  The storage unit 201 stores data on the position of the TS 100 (see FIG. 2) including the UAV search control unit 200. The position of the TS100 is previously measured by the position specifying unit 107 of the TS100 using a high-accuracy GNSS, or the coordinates of the TS100 are obtained by surveying using a reference point. It is also possible to download the flight plan data from another storage device or storage medium to the UAV search control unit 200 and temporarily store it in the storage unit 201.

  The estimation unit 202 estimates the direction of the UAV viewed from the TS 100 at a specific time based on the position data of the TS 100 and the predetermined route data (flight plan data) stored in the storage unit 201. Hereinafter, the principle of estimating the direction of the UAV viewed from the TS 100 will be described with reference to FIG. It should be noted that what is described below is a basic principle, and it goes without saying that there are various methods.

  FIG. 4A shows the case of three-dimensional orthogonal coordinate display, and FIG. 4B shows the case of polar coordinate display. 4A and 4B differ only in the coordinate system used, and the relationship between the origin O and the point P is the same for both.

  4A and 4B, the origin O is the TS position (measurement origin), and the point P is the UAV position at a specific time. Here, the position of the UAV is determined from data of a predetermined route. Therefore, the position of the UAV handled here is based on a schedule (flight plan), and in this sense, the processing described below is processing related to position estimation.

  Hereinafter, the case where the direction of UAV seen from TS100 in time t1 is estimated is demonstrated. First, the data of the position of the point P (UAV position) at time t1 is obtained from the flight schedule data. At this stage, as shown in FIG. 4A, the coordinates of the point P are specified by (latitude, longitude, altitude).

  Next, as shown in FIG. 4 (A) → FIG. 4 (B), the three-dimensional orthogonal coordinate system is converted into a polar coordinate system. This conversion is performed by elementary mathematical operations. By converting to the polar coordinate system shown in FIG. 4B, the horizontal angle φ (in this case, an angle measured counterclockwise from the x-axis) and the elevation angle θ can be obtained. Here, (φ, θ) is the estimated direction of the UAV viewed from the TS at time t1. Based on the same principle, the UAV direction at t1, t2, t3,... Can be obtained, so that the direction viewed from the UAV TS 100 at the specified time can be estimated. Further, a vector r at each time (see FIG. 4B) is obtained. The vector r is a vector indicating the UAV direction and distance as viewed from the TS 100. The estimation unit 202 performs processing for obtaining (r, φ, θ) based on the above principle.

  The search control unit 203 performs processing for controlling UAV search based on the direction estimated by the estimation unit 202. The movable part of TS100 performs rotation, elevation angle, and depression angle in the horizontal direction with a motor. A control signal for controlling the operation of the motor is output from the search control unit 203.

  As a basic premise, the tracking of a UAV in flight uses a target automatic tracking function provided in the TS100. With this function, the TS 100 automatically tracks the flying UAV by scanning the laser beam for search and detecting the reflected light from the target (in this case, a dedicated reflecting prism). However, when tracking is not performed from the start of flight, or when automatic tracking is not successful and the TS 100 loses sight of the UAV, the TS 100 needs to capture the flying UAV. The search control unit 203 uses the processing at this time. The search can be performed at an arbitrary timing, but it is particularly preferable to perform the search at a timing described later.

  The speed prediction unit 204 predicts the apparent speed of the UAV as viewed from the TS. The apparent speed of the UAV viewed from the TS is defined as the rate of change of the line-of-sight direction viewed from the TS of the UAV. For example, in the case of FIG. 4B, the rate of change of the line of sight from the TS following the UAV is expressed by the rate of change of φ (dφ / dt) and the rate of change of θ (dθ / dt) with respect to time. . That is, an apparent rate of UAV seen from the TS is a combination of the rate of change of angle (dφ / dt) with respect to time in the direction of angle φ and the rate of change of angle (dθ / dt) with respect to time in the direction of angle θ. The speed prediction unit 204 calculates the rate of change of (φ, θ), that is, (dφ / dt) and (dθ / dt).

  The search timing selection unit 205 selects one of search timings to be described later. Examples of selection criteria include the case of selecting the timing that comes first in time, the case of selecting in consideration of time and a predetermined priority order, and the like. In addition, a mode in which two or more timings are selected and processing at a plurality of selected timings is sequentially executed is also possible. The time to start the search is specified by the clock mounted on the TS100 or the UAV search control unit 200 after ΔT seconds after the UAV is lost (lost) and after ΔT ′ seconds from the start of flight. This is done in the form of minutes ** seconds

  Hereinafter, preferable search timing will be described. The preferred search timing described below is estimated based on flight plan data.

(First preferred search timing)
The first preferable search timing is a timing at which the apparent speed estimated by the speed prediction unit 204 is equal to or less than a predetermined value. When the apparent speed seen from TS100 is fast, the speed at which the UAV passes (crosses) the irradiation range (search range) of the search laser beam is increased accordingly, so the probability that the search laser beam captures the UAV decreases. .

  On the other hand, if the apparent speed seen from TS100 is slow, the speed at which the UAV passes (crosses) the irradiation range (search range) of the search laser beam is slowed accordingly, so the probability that the search laser beam captures the UAV Becomes higher. Therefore, when the apparent speed of the UAV is estimated to be equal to or less than a predetermined threshold, if the UAV is searched for aiming at the airspace expected from the flight plan, the probability that the UAV can be captured increases.

  For example, suppose that TS loses sight of UAV at some point. In this case, an airspace in which the apparent speed of the UAV is equal to or less than a predetermined threshold is estimated by calculation based on the flight plan, the TS100 is directed to that airspace, and a UAV that will fly into that airspace is awaited in advance. In this way, it is possible to increase the possibility that a lost UAV can be recaptured. The method of waiting in the air space estimated from this flight plan and capturing the UAV is also effective at other preferable search timings.

(Second preferred search timing)
The second preferred search timing is a timing at which the UAV is estimated to make a turning flight. When making a turn, the speed of the UAV decreases. Further, the apparent amount of movement per unit time as viewed from the TS is smaller than that in the case of straight flight. Therefore, by performing a UAV search at the timing when the UAV turns, the probability that the UAV can be captured increases.

(Third preferred search timing)
The third preferred search timing is a timing at which it is estimated that the UAV will fly away from the TS. When the UAV performs a flight away from the TS, the apparent amount of movement per unit time as viewed from the TS gradually decreases. Therefore, by searching for a UAV at a timing when the UAV moves away, the probability that the UAV can be captured increases.

(Fourth preferred search timing)
A fourth preferred search timing is a timing at which the UAV is estimated to fly farther than a predetermined distance with respect to the TS. Considering the same field of view, when the UAV is flying far, the movement of the UAV image passing through the field of view is slower than when the UAV is flying near. For this reason, when it is estimated from the planned flight route that the aircraft will travel farther than a predetermined distance, the probability of finding the UAV increases by waiting for the estimated flight route and searching for the UAV.

  The search range setting unit 206 sets the UAV search range based on the search timing selected by the search timing selection unit 205. The search range is set as follows. First, when a search timing is selected, a route scheduled for flight at that timing is obtained from the flight plan. If the route scheduled for flight is known, the range of the direction (φ, θ) as seen from the TS of the UAV flying in the route is obtained. A range having a certain width based on this range is a search range. This process is performed by the search range setting unit 206.

(Example of processing)
An example of processing performed by the UAV search control unit 200 in FIG. 3 will be described. FIG. 5 shows an example of a procedure of processing performed by the UAV search control unit 200. The program for executing the processing of FIG. 5 is stored in and provided from the storage unit 201 of the UAV search control unit 200, an appropriate storage medium, or a server on the network.

  The process of FIG. 5 is started in a state where the TS (total station) 100 does not capture the UAV. As such a case, there is a case where the UAV starts flying while the TS 100 has not captured the UAV, or a case where the UAV has lost sight of the UAV while the TS 100 is capturing and tracking the UAV.

  When the process is started, it is determined whether or not the UAV is flying at that time (step S101). This determination is performed based on a flight plan (data defining a predetermined flight route and flight time relationship). If it is determined that the flight has not ended, the process proceeds to step S102. If it is determined that the flight has ended, the process ends.

  In step S102, based on the flight plan, a search timing that arrives in the near future from that time is selected. Here, the search timings that are candidates are four forms of the above-described first to fourth preferable search timings. At this time, a plurality of search timings may be extracted simultaneously. In this case, the search timing that minimizes the apparent speed is selected.

  In this process, a specific time included in the selected search timing range is selected. The specific time to be selected is ΔT seconds after the UAV was lost (lost), ΔT ′ seconds after the start of flight, and the clock mounted on the TS100 or the UAV search control unit 200 at the time of XX A minute such as XX seconds is selected.

  For example, in the flight plan, the speed in the position / route of the flight route is set. Therefore, for example, by designating the execution of a search in a specific direction range after ΔT seconds after the UAV is lost, a UAV chasing search predicting the flight airspace is executed.

  The processing in step S102 is performed by the search timing selection unit 205 in FIG. The apparent speed can be obtained by estimating the vector r by the estimation unit 202 and predicting the rate of change of (φ, θ) by the speed prediction unit 204.

  When the search timing is selected, a search range is set based on the flight plan (step S103). In this process, a certain period including the search timing selected in step S102 is selected, and a vector r in that period is obtained from the flight plan. Then, a certain range including the planned flight route predicted by the vector r is set as the angle range of φ and θ. Thus, the search range is set. The processing in step S103 is performed by the search range setting unit 206.

  When the search range is set, the UAV is searched in the range from a stage slightly before the scheduled time when the UAV reaches the range (for example, a stage 2 seconds to 5 seconds before) (step S104). This processing is performed using a target search function provided in the TS 100 based on a control signal from the search control unit 203. The UAV search may be performed based on an analysis of an image captured by the TS 100.

  In the above search, the UAV apparent speed V in the search range is calculated by the speed prediction unit 204, and the search is performed at the apparent scanning speed of v = 2V along the UAV expected moving direction. That is, the operation control of the TS100 is performed so that the movable part of the TS100 moves at an apparent speed that is twice the estimated apparent speed of the UAV (that is, the line of sight for search moves at twice the speed). .

  By performing the control described above, considering the apparent speed, the UAV is chased at twice the speed, and the search laser light that is scanned and irradiated does not catch up with the UAV, thereby avoiding a situation where the search cannot be performed. It is done. Here, by setting a plurality of search scanning directions along the moving direction of the UAV, it is possible to increase the probability of capturing the UAV.

  The scanning speed is suitably about twice the apparent speed of UAV, but is not limited to twice. Further, when the change in the apparent speed of the UAV seen from the TS is large, the apparent speed estimated at each time (for example, every 3 seconds) is calculated, and the TS is controlled based on the calculated apparent speed.

  If the UAV can be captured as a result of the search, the process ends after step S105. If the UAV cannot be captured, the process proceeds to step S106. Here, it is determined whether or not it is estimated that the flight of the UAV in the search range set in step S103 has ended (if the UAV cannot be captured, the flight is estimated at this time) (step S106). If it is determined that the flight in the search range has been completed, the process returns to the previous stage of step S102 and the search range is selected again. If it is determined that the flight in the search range has not ended, the search control in step S104 is continued.

  As described above, a UAV flight plan is grasped in advance on the TS side, and a UAV not captured by the TS is searched based on this flight plan.

2. Second Embodiment It is also possible to configure the UAV search control unit 200 of FIG. 3 as an independent control device. In this case, the UAV search control unit 200 described with reference to FIG. 3 is an independent device. This control device is connected to a TS (total station) via an appropriate communication line such as wireless communication, and outputs a control signal for controlling the operation of the TS toward the TS. In this case, a TS that can be externally controlled is used.

  The control device including the UAV search control unit 200 may be configured with dedicated hardware, or may be configured to implement the functions of FIG. 3 by installing operation software on a PC, tablet, smartphone, or the like. Good. Further, for example, when a tablet is used, it is possible to perform an operation that is difficult with the tablet by an external device, and the UAV search control unit can be configured as a system by combining the external device and the tablet. This is the same not only for tablets but also for PCs and smartphones. Further, there is also a mode in which a server located in a remote place is operated as the UAV search control unit 200, accessed there by using a tablet or smartphone via the Internet line, etc., and operated using the tablet or smartphone as a terminal. Is possible.

  It is also possible to configure a system that implements the functional units shown in FIG. 3 with a plurality of independent hardware connected via a communication line. For example, a smartphone is used as the operation terminal, a server or a PC is used as the storage unit 201, and hardware that implements other functional units is an auxiliary device housed in an adapter-type housing connected to the TS. This auxiliary device can communicate with the above-described smartphone or server using the Internet line or the like. When using the auxiliary device, the flight plan data is downloaded from the above-described server to the auxiliary device, and the smartphone is used as an operation terminal. The operation described in the first embodiment is performed. In this case, a system is configured in which the functional units arranged in a distributed manner are integrated and functioned via communication. In this system, the process of FIG. 5 is executed.

Claims (8)

An arithmetic device used for searching for an unmanned aerial vehicle flying on a predetermined route,
An estimation unit that estimates the direction of the unmanned aircraft as viewed from the surveying device at a specific time based on the position data of the surveying device that measures the position of the unmanned aircraft using laser light and the data of the predetermined route When,
An arithmetic device comprising: a search control unit that controls search of the unmanned aircraft by the surveying device based on the direction estimated by the estimation unit. An apparent speed prediction unit for predicting the apparent speed of the unmanned aerial vehicle viewed from the surveying device based on the predetermined route data;
In the search for the unmanned aircraft by the surveying device, the search control unit performs control to move the movable unit of the surveying device at an apparent speed faster than the apparent speed of the unmanned aircraft predicted by the speed prediction unit. The arithmetic device according to claim 1. As timing for searching for the unmanned aircraft by the search control unit,
A timing at which the apparent speed predicted by the speed prediction unit is equal to or lower than a predetermined value;
Timing at which the unmanned aircraft estimated by the estimation unit makes a turning flight,
A timing at which the unmanned aircraft estimated by the estimation unit flies away from the surveying device;
The computing device according to claim 1 or 2, wherein one or more of the timings at which the unmanned aircraft estimated by the estimation unit is flying farther than a predetermined distance from the surveying device are selected.   The computing device according to any one of claims 1 to 3, wherein the search for the unmanned aerial vehicle is performed when the surveying device loses sight of the unmanned aerial vehicle. The estimation unit includes
An airspace in which the unmanned aerial vehicle makes a turning flight;
An airspace in which the unmanned aircraft flies away from the surveying instrument;
Estimating at least one of the airspace in which the unmanned aircraft flies farther than a predetermined distance from the surveying instrument;
The computing device according to any one of claims 1 to 4, wherein the search control unit controls the search for the unmanned aircraft in the estimated at least one airspace. A calculation method used for searching for an unmanned aerial vehicle flying on a predetermined route,
An estimation step for estimating the direction of the unmanned aircraft as seen from the surveying device at a specific time based on the position data of the surveying device that measures the position of the unmanned aircraft using laser light and the data of the predetermined route. When,
A search control step of controlling a search for the unmanned aircraft by the surveying device based on the direction estimated in the estimation step. An arithmetic system used for searching for an unmanned aerial vehicle flying on a predetermined route,
An estimation unit that estimates the direction of the unmanned aircraft as viewed from the surveying device at a specific time based on the position data of the surveying device that measures the position of the unmanned aircraft using laser light and the data of the predetermined route When,
A search control unit that controls a search for the unmanned aircraft by the surveying device based on the direction estimated by the estimation unit. A program used to search for unmanned aerial vehicles flying on a predetermined route,
The unmanned vehicle seen from the surveying device at a specific time based on the data of the position of the surveying device that surveys the position of the unmanned aircraft using laser light and the data of the predetermined route An estimation unit for estimating the direction of the aircraft;
A program that operates as a search control unit that controls search of the unmanned aircraft by the surveying device based on the direction estimated by the estimation unit.

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